dubins-path.hh

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//
// Copyright (c) 2017 CNRS
// Authors: Florent Lamiraux
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// DAMAGE.
 
#ifndef HPP_CORE_DUBINS_PATH_HH
#define HPP_CORE_DUBINS_PATH_HH
 
#include <hpp/core/config.hh>
#include <hpp/core/fwd.hh>
#include <hpp/core/path-vector.hh>
#include <hpp/pinocchio/device.hh>
 
namespace hpp {
namespace core {
 
class DubinsPath : public PathVector {
 public:
  typedef core::PathVector parent_t;
 
  virtual ~DubinsPath() {}
 
  static DubinsPathPtr_t create(const DevicePtr_t& device,
                                ConfigurationIn_t init, ConfigurationIn_t end,
                                value_type extraLength, value_type rho,
                                size_type xyId, size_type rzId,
                                const std::vector<JointPtr_t> wheels);
  static DubinsPathPtr_t create(const DevicePtr_t& device,
                                ConfigurationIn_t init, ConfigurationIn_t end,
                                value_type extraLength, value_type rho,
                                size_type xyId, size_type rzId,
                                const std::vector<JointPtr_t> wheels,
                                ConstraintSetPtr_t constraints);
 
  static DubinsPathPtr_t createCopy(const DubinsPathPtr_t& path) {
    DubinsPath* ptr = new DubinsPath(*path);
    DubinsPathPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  static DubinsPathPtr_t createCopy(const DubinsPathPtr_t& path,
                                    const ConstraintSetPtr_t& constraints) {
    DubinsPath* ptr = new DubinsPath(*path, constraints);
    DubinsPathPtr_t shPtr(ptr);
    ptr->init(shPtr);
    return shPtr;
  }
 
  virtual PathPtr_t copy() const { return createCopy(weak_.lock()); }
 
  virtual PathPtr_t copy(const ConstraintSetPtr_t& constraints) const {
    return createCopy(weak_.lock(), constraints);
  }
 
  inline DevicePtr_t device() const { return device_; }
 
  inline Configuration_t initial() const { return initial_; }
 
  inline Configuration_t end() const { return end_; }
 
 protected:
  virtual std::ostream& print(std::ostream& os) const {
    os << "DubinsPath:" << std::endl;
    Path::print(os);
    os << "initial configuration: " << initial_.transpose() << std::endl;
    os << "final configuration:   " << end_.transpose() << std::endl;
    return os;
  }
  DubinsPath(const DevicePtr_t& robot, ConfigurationIn_t init,
             ConfigurationIn_t end, value_type extraLength, value_type rho,
             size_type xyId, size_type rzId,
             const std::vector<JointPtr_t> wheels);
 
  DubinsPath(const DevicePtr_t& robot, ConfigurationIn_t init,
             ConfigurationIn_t end, value_type extraLength, value_type rho,
             size_type xyId, size_type rzId,
             const std::vector<JointPtr_t> wheels,
             ConstraintSetPtr_t constraints);
 
  DubinsPath(const DubinsPath& path);
 
  DubinsPath(const DubinsPath& path, const ConstraintSetPtr_t& constraints);
 
  void init(DubinsPathPtr_t self);
 
  DubinsPath() : xyId_(0), rzId_(0) {}
 
 private:
  void dubins_init_normalised(double alpha, double beta, double d);
  void dubins_init(vector3_t q0, vector3_t q1);
  typedef Eigen::Matrix<value_type, 3, 1> Lengths_t;
 
  DevicePtr_t device_;
  Configuration_t initial_;
  Configuration_t end_;
  const size_type xyId_, rzId_;
  size_type dxyId_, drzId_;
  std::vector<JointPtr_t> wheels_;
  std::size_t typeId_;
  Lengths_t lengths_;
  value_type extraLength_, rho_;
 
  vector3_t qi_;  // the initial configuration
  DubinsPathWkPtr_t weak_;
 
  HPP_SERIALIZABLE();
};  // class DubinsPath
 
}  //   namespace core
}  // namespace hpp
 
BOOST_CLASS_EXPORT_KEY(hpp::core::DubinsPath)
 
#endif  // HPP_CORE_DUBINS_PATH_HH